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<div class="title">correspondence_rejection_poly.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_POLY_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_POLY_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> SourceT, <span class="keyword">typename</span> TargetT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#ab9dd0c9b233328c85803229009be093e">   43</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#ab9dd0c9b233328c85803229009be093e">pcl::registration::CorrespondenceRejectorPoly&lt;SourceT, TargetT&gt;::getRemainingCorrespondences</a> (</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keyword">const</span> pcl::Correspondences&amp; original_correspondences, </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    pcl::Correspondences&amp; remaining_correspondences)</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="comment">// This is reset after all the checks below</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  remaining_correspondences = original_correspondences;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="comment">// Check source/target</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordflow">if</span> (!input_)</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::getRemainingCorrespondences] No source was input! Returning all input correspondences.\n&quot;</span>,</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;               getClassName ().c_str ());</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordflow">if</span> (!target_)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::getRemainingCorrespondences] No target was input! Returning all input correspondences.\n&quot;</span>,</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;               getClassName ().c_str ());</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="comment">// Check cardinality</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">if</span> (cardinality_ &lt; 2)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::getRemainingCorrespondences] Polygon cardinality too low!. Returning all input correspondences.\n&quot;</span>,</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;               getClassName ().c_str() );</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="comment">// Number of input correspondences</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nr_correspondences = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (original_correspondences.size ());</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="comment">// Not enough correspondences for polygonal rejections</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">if</span> (cardinality_ &gt;= nr_correspondences)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::getRemainingCorrespondences] Number of correspondences smaller than polygon cardinality! Returning all input correspondences.\n&quot;</span>,</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;               getClassName ().c_str() );</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="comment">// Check similarity</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">if</span> (similarity_threshold_ &lt; 0.0f || similarity_threshold_ &gt; 1.0f)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::getRemainingCorrespondences] Invalid edge length similarity - must be in [0,1]!. Returning all input correspondences.\n&quot;</span>,</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;               getClassName ().c_str() );</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="comment">// Similarity, squared</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  similarity_threshold_squared_ = similarity_threshold_ * similarity_threshold_;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="comment">// Initialization of result</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  remaining_correspondences.clear ();</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  remaining_correspondences.reserve (nr_correspondences);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="comment">// Number of times a correspondence is sampled and number of times it was accepted</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  std::vector&lt;int&gt; num_samples (nr_correspondences, 0);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  std::vector&lt;int&gt; num_accepted (nr_correspondences, 0);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="comment">// Main loop</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; iterations_; ++i)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="comment">// Sample cardinality_ correspondences without replacement</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keyword">const</span> std::vector&lt;int&gt; idx = getUniqueRandomIndices (nr_correspondences, cardinality_);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="comment">// Verify the polygon similarity</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordflow">if</span> (thresholdPolygon (original_correspondences, idx))</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="comment">// Increment sample counter and accept counter</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; cardinality_; ++j)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        ++num_samples[ idx[j] ];</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        ++num_accepted[ idx[j] ];</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="comment">// Not accepted, only increment sample counter</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; cardinality_; ++j)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        ++num_samples[ idx[j] ];</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="comment">// Now calculate the acceptance rate of each correspondence</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  std::vector&lt;float&gt; accept_rate (nr_correspondences, 0.0f);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nr_correspondences; ++i)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> numsi = num_samples[i];</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keywordflow">if</span> (numsi == 0)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      accept_rate[i] = 0.0f;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      accept_rate[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (num_accepted[i]) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (numsi);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="comment">// Compute a histogram in range [0,1] for acceptance rates</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> hist_size = nr_correspondences / 2; <span class="comment">// TODO: Optimize this</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keyword">const</span> std::vector&lt;int&gt; histogram = computeHistogram (accept_rate, 0.0f, 1.0f, hist_size);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="comment">// Find the cut point between outliers and inliers using Otsu&#39;s thresholding method</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> cut_idx = findThresholdOtsu (histogram);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> cut = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (cut_idx) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (hist_size);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="comment">// Threshold</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nr_correspondences; ++i)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordflow">if</span> (accept_rate[i] &gt; cut)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      remaining_correspondences.push_back (original_correspondences[i]);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> SourceT, <span class="keyword">typename</span> TargetT&gt; std::vector&lt;int&gt; </div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a37fe57f588ae4c5123a68de1da641e5d">  154</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a37fe57f588ae4c5123a68de1da641e5d">pcl::registration::CorrespondenceRejectorPoly&lt;SourceT, TargetT&gt;::computeHistogram</a> (<span class="keyword">const</span> std::vector&lt;float&gt;&amp; data,</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                                                                         <span class="keywordtype">float</span> lower, <span class="keywordtype">float</span> upper, <span class="keywordtype">int</span> bins)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;{</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="comment">// Result</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  std::vector&lt;int&gt; result (bins, 0);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="comment">// Last index into result and increment factor from data value --&gt; index</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> last_idx = bins - 1;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> idx_per_val = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (bins) / (upper - lower);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="comment">// Accumulate</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keywordflow">for</span> (std::vector&lt;float&gt;::const_iterator it = data.begin (); it != data.end (); ++it)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;     ++result[ std::min (last_idx, <span class="keywordtype">int</span> ((*it)*idx_per_val)) ];</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <span class="keywordflow">return</span> (result);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;}</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> SourceT, <span class="keyword">typename</span> TargetT&gt; <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a86918596b556ca1626f2a55640ae971e">  173</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a86918596b556ca1626f2a55640ae971e">pcl::registration::CorrespondenceRejectorPoly&lt;SourceT, TargetT&gt;::findThresholdOtsu</a> (<span class="keyword">const</span> std::vector&lt;int&gt;&amp; histogram)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;{</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="comment">// Precision</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> eps = std::numeric_limits&lt;double&gt;::epsilon();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="comment">// Histogram dimension</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nbins = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (histogram.size ());</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="comment">// Mean and inverse of the number of data points</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordtype">double</span> mean = 0.0;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keywordtype">double</span> sum_inv = 0.0;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nbins; ++i)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    mean += <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (i * histogram[i]);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    sum_inv += <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (histogram[i]);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  sum_inv = 1.0/sum_inv;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  mean *= sum_inv;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="comment">// Probability and mean of class 1 (data to the left of threshold)</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="keywordtype">double</span> class_mean1 = 0.0;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="keywordtype">double</span> class_prob1 = 0.0;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <span class="keywordtype">double</span> class_prob2 = 1.0;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="comment">// Maximized between class variance and associated bin value</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="keywordtype">double</span> between_class_variance_max = 0.0;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="keywordtype">int</span> result = 0;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="comment">// Loop over all bin values</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nbins; ++i)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    class_mean1 *= class_prob1;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="comment">// Probability of bin i</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> prob_i = <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (histogram[i]) * sum_inv;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="comment">// Class probability 1: sum of probabilities from 0 to i</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    class_prob1 += prob_i;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="comment">// Class probability 2: sum of probabilities from i+1 to nbins-1</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    class_prob2 -= prob_i;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="comment">// Avoid division by zero below</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordflow">if</span> (std::min (class_prob1,class_prob2) &lt; eps || std::max (class_prob1,class_prob2) &gt; 1.0-eps)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">// Class mean 1: sum of probabilities from 0 to i, weighted by bin value</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    class_mean1 = (class_mean1 + <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (i) * prob_i) / class_prob1;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="comment">// Class mean 2: sum of probabilities from i+1 to nbins-1, weighted by bin value</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> class_mean2 = (mean - class_prob1*class_mean1) / class_prob2;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="comment">// Between class variance</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> between_class_variance = class_prob1 * class_prob2</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                                          * (class_mean1 - class_mean2)</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                                          * (class_mean1 - class_mean2);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="comment">// If between class variance is maximized, update result</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keywordflow">if</span> (between_class_variance &gt; between_class_variance_max)</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    {</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      between_class_variance_max = between_class_variance;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      result = i;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keywordflow">return</span> (result);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;}</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_POLY_HPP_</span></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a37fe57f588ae4c5123a68de1da641e5d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a37fe57f588ae4c5123a68de1da641e5d">pcl::registration::CorrespondenceRejectorPoly::computeHistogram</a></div><div class="ttdeci">std::vector&lt; int &gt; computeHistogram(const std::vector&lt; float &gt; &amp;data, float lower, float upper, int bins)</div><div class="ttdoc">Compute a linear histogram. This function is equivalent to the MATLAB function histc,...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.hpp:154</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_a86918596b556ca1626f2a55640ae971e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#a86918596b556ca1626f2a55640ae971e">pcl::registration::CorrespondenceRejectorPoly::findThresholdOtsu</a></div><div class="ttdeci">int findThresholdOtsu(const std::vector&lt; int &gt; &amp;histogram)</div><div class="ttdoc">Find the optimal value for binary histogram thresholding using Otsu's method</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.hpp:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_poly_html_ab9dd0c9b233328c85803229009be093e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_poly.html#ab9dd0c9b233328c85803229009be093e">pcl::registration::CorrespondenceRejectorPoly::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_poly.hpp:43</div></div>
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